Simulation of Permanent Magnet Synchronous Motor Vector Control

System Based on Simplorer & Maxwell

Guanyue Zhang 1, a, Kuangcheng Li 1,b and *Chunguang Liu1,c

1Academy of Armored Force Beijing Chinaanottinghilllove@163.com, b likuangcheng@163.com, cliu_mu2000@163.com

*stand for corresponding author

Keywords: Synchronous Maxwell Simplorer Vector controlAbstract:In this paper, the electromagnetic model of Permanent magnet synchronous motor(PMSM) is established by using the RMxprt module self-brought by Maxwell, and thetwo-dimensional model is generated to conduct the electromagnetic simulation analysis. By usingSimplorer as the simulation platform for driving circuit, controller and position detection parts ofPermanent magnet synchronous motor, a joint simulation model of PMSM vector control withMaxwell and Simplorer is built through Simplorer communication interface, the correctness andrationality of the motor control scheme and simulation method are verified.

Introduction

Electric drive is a kind of transmission system which converts electrical energy into mechanicalenergy and uses electrical energy to drive load. Among them, the PMSM vector control system, as apart of the electric drive, has the characteristics of high power density, energy saving, highefficiency and accurate speed adjustment, and is widely used in various fields. At present, thesimulation of PMSM vector control system is mostly modeled by Matlab software. The motormodel in Matlab software is an ideal model, the simulation precision is not high enough to build amore efficient and accurate simulation model for the electric drive system [1]. Therefore, this paperuses Maxwell and Simplorer respectively to establish the model and the joint simulation of thepermanent magnet synchronous motor body and the motor drive control system. Among them,Maxwell is mainly used for electromagnetic simulation analysis of motor, transformer, actuator andso on; The electromagnetic model of motor is established by using the RMxprt module self-broughtby Maxwell directly input motor parameters, and then the two-dimensional model of motor isgenerated. Simplorer is a simulation and analysis software used in many fields, which is mainlyused in the design and modeling of electric and electromagnetism, and has powerful systemsimulation function, which can realize the joint design and simulation analysis of power electronics,sensors, motors and control systems conveniently. Compared with the single Matlab simulation,Maxwell and Simplorer collaborative simulation makes the system simulation results more accurateand reliable.

Vector Control System Structure

The control system structure diagram as shown in Fig. 1 which shows that the vector controlsystem mainly includes: the rotation-loop and the current loop PI control module, the coordinatetransform module, the SVPWM algorithm module and the inverter module[2].

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Copyright © 2018, the Authors. Published by Atlantis Press. This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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mailto:cliu_mu2000@163.com

From the control principle, vector control is the stator current decomposition of permanentmagnet synchronous motor, two orthogonal decoupling torque current and excitation current areobtained, torque current is mainly used to generate electromagnetic torque, adjusting excitationcurrent can change the air gap synthetic magnetic field in straight axis direction, and can increasethe speed range under the condition of constant motor power[3].

Fig. 1. Structure of vector control system

Establishment of the Finite Element Model of IPM Motor

Using the RMxprt module in Maxwell, input motor stator diameter, iron core length, grooveshape, permanent magnet size and other parts' size, generate motor model, then add materialattributes to generate Maxwell 2D model, set motor's moving parts, boundary conditions and splitthe motor. The basic structural parameters of permanent magnet synchronous motor are shown inTable 1. In order to obtain the accurate electromagnetic analysis result of the motor, define theboundary condition, set the excitation source, and make the network partition of the motorcomponents. The two-dimensional model and its network dissection of motor body Maxwell areshown in Fig. 2, which shows that the establishment of the motor model is ideal and conforms tothe system requirements.

Table 1. Basic Structural Parameters of Permanent Magnet Synchronous MotorParameter Value Parameter ValuePower Rating /kw 10 Number of Stator Slots 12Rated Voltage /V 196 Number of Pole Pairs 4Rated Torque /N.m 31 Number of Phases 3Rated Speed /(r/min) 3000 Iron Core Length /Mm 92Stator Internal Diameter /mm 180 Parallel Branch Number 4Stator External Diameter /mm 111.5

Fig. 2Two dimensional model of IPM motor and its network dissection

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Simplorer Modeling of Control System

The Rotation-loop and the Current Loop PI Control ModuleIn the Simplorer, thd the integral adjuster are used to feedback the speed signal and the current

signal of the motor, which can achieve the floating control to the speed and torque[4]. The U_BETAand U_ALPHA output by this module is the input signal of SVPWM.

Fig. 3. The closed loop PI controller

Coordinate Transform Module

The module includes Clark transform and Park transform, through Clark transform, transforms thethree-phase static ABC coordinate system into two-phase static α-β coordinate system; Thenthrough the Park transform, transforms the two-phase static α-β coordinate system into two-phaserotating d-q coordinate system, and converts the three-phase current of the current transducer to thedirect current in the d-q coordinate system as the input of PI regulator[5]. The Clark Transform andthe Park transform module are shown in Fig. 4.

Fig. 4. Clark transform and Park transform module

SVPWM Algorithm Module

The module is a key module in the control algorithm, which mainly includes the sectorjudgment sub-module, the basic voltage function time calculation sub-module, the switching timecalculation sub-module, and the triggering pulse generating sub-module[6].

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Fig. 5. SVPWM algorithm module

Inverter and Permanent Magnet Synchronous Motor Module

Fig. 6 is the main circuit module, the inverter mainly consists of 6 IGBT and 6 diodes, thepower supply is the DC voltage source. Through SVPWM control module to generate the controlsignal and drive the conduction and turn-off of IGBT.

Fig. 6. Inverter and permanent magnet synchronous motor module

Simulation and Result Analysis

t1

t2

vb

vc

va

Ta=(T.PWM-T1-T2)/4

Tb=Ta+T1/2

Tc=Tb+T2/2

Tcom1

Tcom2

Tcom3T2'

T1'

T-(t1+t2)

T1

T2

t1+t2

Sw itching time calculationUr1 Ur2 Ur3 calculation

T1 T2 calculation

Pulse generationTPWM

Ubeta

Ualpha

TPWM

Udc

Sector judgment

Ubeta

Ualpha N

SW Control

T1

T2

Tcom1

Tcom2

Tcom3

IGBT1

IGBT2

IGBT3

IGBT4

IGBT5

IGBT6

TPWM

T1_Y1

use T1.VAL to controll

use T2.VAL to controll

T1_Y2

T1_Y3

T1_Y4

T1_Y5

T1_Y6

T2_Y1

T2_Y2

T2_Y3

T2_Y4

T2_Y5

T2_Y6

Tcom1_Y1

Tcom1_Y2

Tcom1_Y3

Tcom2_Y1

Tcom2_Y2

Tcom2_Y3

Tcom3_Y1

Tcom3_Y2

Tcom3_Y3

Ur3'

Ur2'

Ur1' Ur1

Ur2

Ur3

Ur1

Ur2

Ur3

Ur1

-Ur1

Ur2

-Ur2

Ur3

-Ur3

Ur1

-Ur1

-Ur2

Ur2

Ur3

-Ur3

ialpha

ibeta

id

iq

Uc

Ub

Ua

Clark transformation

net_33

AA

A

+

V

T

+ V

+

F w+

T

Fig. 7. Vector control system modelThrough Maxwell and Simplorer, the simulation models of each module are connected to each

other to realize joint simulation, the system model is shown in Fig. 7. Set the stator resistance of

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0.01mOhm, the inductance of 0.12093mH, the rotational inertia of 0.035kg/m2 , inverter switchfrequency of 10kHz, the entire simulation time of 0.3s. The maximum step size is set to 0.5us, theminimum step size to 1.5us, the initial given speed of 800r/min, set the electromagnetic torque jumpto 15N.m from 5N.m at 0.1s, rotational speed jump to 2400r/min at the 0.2s, then run the simulationmodel to get the following waveform:

Fig. 8.Ia,Ib,Ic phase current waveform

Fig. 9 Motor speed and current Iq waveformI

Fig. 10 Motor torque and current Iq waveform

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Through the simulation waveform, it can be seen, as shown in Fig. 9, the starting time of about20ms, speed overshoot is less than 20r/min. The speed accuracy is relatively higher, between-3~3r/min. In the case of sudden change in 0.1s load, according to Fig. 10, it is found that the motor,after about 15ms adjustment, can achieve stable operation, the stability of this control system isstrong. The rotational speed of the stator current iabc changes from 1000r/min to 2400r/min at 0.2s,after 2-3-cycle adjustment, that is, stable to sine wave, so the system's rotational speed adjustmentperformance is good. According to Fig. 11, the motor torque is proportional to the iq, and thechange rule is consistent, thus, the desired effect is achieved. Therefore, the simulation results of themotor control strategy are satisfactory.

Conclusions

In this paper, the structure of PMSM vector control system is analyzed, the control principle isbriefly analyzed, the complete control model is constructed by using rotational speed and torquedouble closed loop system, and the two-dimensional model and electromagnetic analysis ofpermanent magnet synchronous motor are established in Maxwell Environment. The motorcontrollers, inverter circuits and so on are modeled and simulated by using the Simplorer as asimulation platform, and the joint simulation with Maxwell is achieved, the correspondingsimulation model and results are obtained finally, the response speed of this model is fast, thesystem can run smoothly, which has good static and dynamic characteristics, the correctness andrationality of the whole design scheme is verified.

References

[1] Kachino S,Kiseleva V,Servoa B. Research of operation modes of the synchronous electricmotor drive system with use of software ANSYS maxwell and simplorer ［ J］.Micro/Nanotechnologies and Electron Devices,2014(7) : 362-364.

[2] Kallio S, Andriollo M, Tortella A, et al. Decoupled d-q model of double-star interior-permanent-magnet synchronous machines [J]. IEEE Transactions on In-dustrial Electronics,2013, 60(6): 2486-2494

[3] Harnefors L, Nee H P model-based current control of AC machines using theinternal modelcontrol method [J]. IEEE Transactions on Industry Applicat1onS,1998,34(1):113-141

[4] Harnefors F, Pietilainen K, Gertmar L. torque-maximizing field-weakeningcontrol: design,analysis and parameter selection [J]. IEEE Transaction on Industrial Electronics, 2001, 48(1):161-168

[5] Chen Zhiqian, Tomita M, Doki S, et al. An extended electromotive force modeltorsensorlesscontrol of interior permanent-magnetsynchronous motors [J]IEEE Transactions on IndustrialElectronics, 2003, 50(2): 288-295

[6] Ghafari-Kashani A R, Faiz J, Yazdanpanah M J Integration of non-linear Hooand sliding modecontrol techniques for motion control of a permanent magnetsynchronous motor [J]. IETElectric Power Applications, 2010, 4(4): 267-280.

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